/*************************************************************
 * @file para_service.c
 * @author MicroOrange
 * @brief 参数管理、接收与储存
 * @date 2022.2.23
 *************************************************************/

#ifndef INC_113REBUILD_PARA_SERVICE_H
#define INC_113REBUILD_PARA_SERVICE_H
enum {
    PARA_MOTION_MODE,

    PARA_CPG_LEFT_PECTROL_AMP_DYNAMIC,
    PARA_CPG_LEFT_PECTROL_OFFSET_DYNAMIC,
    PARA_CPG_RIGHT_PECTROL_AMP_DYNAMIC,
    PARA_CPG_RIGHT_PECTROL_OFFSET_DYNAMIC,
    PARA_CPG_TAIL1_AMP_DYNAMIC,
    PARA_CPG_TAIL1_OFFSET_DYNAMIC,
    PARA_CPG_TAIL2_AMP_DYNAMIC,
    PARA_CPG_TAIL2_OFFSET_DYNAMIC,
    PARA_CPG_TAIL_PHASE,

    PARA_MOTION_THREEDIMROTATE_PID_R_KP,
    PARA_MOTION_THREEDIMROTATE_PID_R_KI,
    PARA_MOTION_THREEDIMROTATE_PID_R_KD,
    PARA_MOTION_THREEDIMROTATE_PID_P_KP,
    PARA_MOTION_THREEDIMROTATE_PID_P_KI,
    PARA_MOTION_THREEDIMROTATE_PID_P_KD,
    PARA_MOTION_THREEDIMROTATE_PID_Y_KP,
    PARA_MOTION_THREEDIMROTATE_PID_Y_KI,
    PARA_MOTION_THREEDIMROTATE_PID_Y_KD,
    PARA_MOTION_THREEDIMROTATE_R,
    PARA_MOTION_THREEDIMROTATE_P,
    PARA_MOTION_THREEDIMROTATE_Y,

    PARA_CONVERT_kf,
    PARA_CONVERT_kd,
    PARA_CONVERT_ky,
    PARA_CONVERT_kr,
    PARA_CONVERT_kp,
    PARA_CONVERT_Vf_threshold,
    PARA_CONVERT_kf_tail,
    PARA_CONVERT_Vy_threshold,
    PARA_CONVERT_ky_tail_offset,
    PARA_CONVERT_ky_tail_front,
    PARA_CONVERT_k_pec_amp,
    PARA_CONVERT_k_pec_freq,
    PARA_CONVERT_k_tail1_amp,
    PARA_CONVERT_k_tail2_amp,
    PARA_CONVERT_k_tail1_freq,
    PARA_CONVERT_k_tail2_freq,
    PARA_CONVERT_k_tail1_2_offset,

    PARA_MOTION_MODE_TEST2_Vf,
    PARA_MOTION_MODE_TEST2_Vd,
    PARA_MOTION_MODE_TEST2_Vr,
    PARA_MOTION_MODE_TEST2_Vp,
    PARA_MOTION_MODE_TEST2_Vy,

    PARA_REMOTE_CHANNEL_1,
    PARA_REMOTE_CHANNEL_2,
    PARA_REMOTE_CHANNEL_3,
    PARA_REMOTE_CHANNEL_4,
    PARA_REMOTE_CHANNEL_5,
    PARA_REMOTE_CHANNEL_6,
    PARA_REMOTE_CHANNEL_7,
    PARA_REMOTE_CHANNEL_8
};

void Para_SetPara(int para_index, double value);
#endif //INC_113REBUILD_PARA_SERVICE_H
